#ifndef CONTROLLER_H
#define CONTROLLER_H

#include <QObject>

class controller
{
public:
    controller();
    bool getAimPoint(QVector<QPointF> path,QPointF crtp,double heading,double *followError);
    char PIDPositional(double *uk,double en,double Kp,double Ki,double Kd, bool Reset=false,double uInitV=0);

private:
    double la=0.15;
private:
    char state=0;
    double en_1;
    double u0;
    double sumei;
};

#endif // CONTROLLER_H
